Publications

Wang, Weizhuo, Michael Raitor, Steve Collins, C. Karen Liu, and Monroe Kennedy. “Trajectory and Sway Prediction Towards Fall Prevention”, International Conference on Robotics and Automation (ICRA).

Tseng, Jonathan, Rodrigo Castellon, and C. Karen Liu. “EDGE: Editable Dance Generation From Music”, CVPR 2023.

Wu, Albert, Michelle Guo, and C. Karen Liu. “Learning Diverse and Physically Feasible Dexterous Grasps With Generative Model and Bilevel Optimization”, Conference on Robot Learning (CoRL).

Jiang, Yifeng, Yuting Ye, Deepak Gopinath, Jungdam Won, Alexander Winkler, and C. Karen Liu. “Transformer Inertial Poser: Real-Time Human Motion Reconstruction from Sparse IMUs With Simultaneous Terrain Generation”, Proceedings of SIGGRAPH Asia, 2022.

Li, Chengshu, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Michael Lingelbach, Jiankai Sun, Mona Anvari, Minjune Hwang, Manasi Sharma, Arman Aydin, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb Matthews, Ivan Villa-Renteria, Jerry Tang, Claire Tang, Fei Xia, Silvio Savarese, Hyowon Gweon, C. Karen Liu, Jiajun Wu, and Li Fei-Fei. “BEHAVIOR-1K: A Benchmark for Embodied AI With 1,000 Everyday Activities and Realistic Simulation”, 6th Annual Conference on Robot Learning.

Chen, Sirui, Keenon Werling, Albert Wu, and C. Karen Liu. “Real-Time Model Predictive Control and System Identification Using Differentiable Physics Simulation”, IEEE Robotics and Automation Letters, 2022.

Ye, Sifan, Yixing Wang, Jiaman Li, Dennis Park, C. Karen Liu, Huazhe Xu, and Jiajun Wu. “Scene Synthesis from Human Motion”, Proceedings of ACM SIGGRAPH Asia.

Zheng, Yang, Yanchao Yang, Kaichun Mo, Jiaman Li, Tao Yu, Yebin Liu, C. Karen Liu, and Leonidas J. Guibas. “GIMO: Gaze-Informed Human Motion Prediction in Context”, European Conference on Computer Vision (ECCV), 2022.

Erickson, Zackory, Henry Clever, Vamsee Gangaram, Eliot Xing, Greg Turk, C. Karen Liu, and Charles Kemp. “Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction”, IEEE Transactions on Robotics.

Yang, Yanchao, Hanxiang Ren, He Wang, Bokui Shen, Qingnan Fan, Youzi Zheng, C. Karen Liu, and Leonidas Guibas. “ADeLA: Automatic Dense Labeling With Attention for Viewpoint Adaptation in Semantic Segmentation”, Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

Jiang, Yifeng, Jiazheng Sun, and C. Karen Liu. “Data-Augmented Contact Model for Rigid Body Simulation”, Learning for Dynamics & Control Conference (L4DC), 2022.

Yang, Yanchao, Yuefan Shen, Youzi Zheng, C. Karen Liu, and Leonidas Guibas. “DCL: Differential Contrastive Learning for Geometry-Aware Depth Synthesis”, IEEE International Conference on Robotics and Automation (RA-L and ICRA), 2022.

Sorokin, Maks, Jie Tan, C. Karen Liu, and Sehoon Ha. “Learning to Navigate Sidewalks in Outdoor Environments”, IEEE International Conference on Robotics and Automation (RA-L and ICRA), 2022.

Exarchos, Ioannis, Karen Wang, Brian Do, Fabio Stroppa, Margaret Coad, Allison Okamura, and C. Karen Liu. “Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots With Growable Discrete Joints”, IEEE International Conference on Robotics and Automation (ICRA), 2022.

Kwiatkowski, Ariel, Eduardo Alvarado, Vicky Kalogeiton, C. Karen Liu, Julien Pettré, Michiel van de Panne, and Marie-Paule Cani. “A Survey on Reinforcement Learning Methods in Character Animation”, EUROGRAPHICS, 2022.

Srivastava, Sanjana, Chengshu Li, Michael Lingelbach, Roberto Martin-Martin, Fei Xia, Kent Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, C. Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, and Li Fei-Fei. “BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments”, Conference on Robot Learning (CoRL), 2021.

Wang, Chen, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-Fei, C. Karen Liu, and Silvio Savarese. “Co-GAIL Learning Diverse Strategies for Human-Robot Collaboration”, Conference on Robot Learning (CoRL), 2021.

Li, Chengshu, Fei Xia, Roberto Martin-Martin, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, and Silvio Savarese. “IGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks”, Conference on Robot Learning (CoRL), 2021.

Xu, Zhuo, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, and Daniel Ho. “COCOI: Contact-Aware Online Context Inference for Generalizable Non-Planar Pushing”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

Jiang, Yifeng, Michelle Guo, Jiangshan Li, Ioannis Exarchos, Jiajun Wu, and C. Karen Liu. “DASH: Modularized Human Manipulation Simulation With Vision and Language for Embodied AI”, ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2021.

Babadi, Amin, Michiel van de Panne, C. Karen Liu, and Perttu Hämäläinen. “Learning Task-Agnostic Action Spaces for Movement Optimization ”, IEEE Transactions on Computer Graphics and Visualization, 2021.

Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments”, Robotics Science and Systems (RSS), 2021.

Werling, Keenon, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, and C. Karen Liu. “Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies With Contact”, Robotics: Science and Systems (RSS), 2021.

Sorokin, Maks, Wenhao Yu, Sehoon Ha, and C. Karen Liu. “Learning Human Search Behavior from Egocentric Visual Inputs”, EUROGRAPHICS 2021.

Exarchos, Ioannis, Yifeng Jiang, Wenhao Yu, and C. Karen Liu. “Policy Transfer via Kinematic Domain Randomization and Adaptation”. IEEE International Conference on Robotics and Automation (ICRA), 2021, May 2021.

Yu, Wenhao, Greg Turk, and C. Karen Liu. “Protective Policy Transfer”, IEEE International Conference on Robotics and Automation (ICRA), 2021.

Jiang, Yifeng, Tingnan Zhang, Daniel Ho, Yunfei Bai, C. Karen Liu, Sergey Levine, and Jie Tan. “SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning”, IEEE International Conference on Robotics and Automation (ICRA), 2021.

Liu, C. Karen, and Dan Negrut. “The Role of Physics-Based Simulators in Robotics”, Annual Review of Control, Robotics, and Autonomous Systems, 2021.

Kumar, K. Niranjan, Irfan Essa, Sehoon Ha, and C. Karen Liu. “Estimating Mass Distribution of Articulated Objects Using Non-Prehensile Manipulation”, NeurIPS Object Representations for Learning and Reasoning Workshop, 2020.

Zhang, Yunbo, Wenhao Yu, C. Karen Liu, Charlie Kemp, and Greg Turk. “Learning to Manipulate Amorphous Materials”, ACM Transactions of Graphics (SIGGRAPH Asia), 2020.

Hamalainen, Perttu, Juuso Toikka, Amin Babadi, and C. Karen Liu. “Visualizing Movement Control Optimization Landscapes”, IEEE Transactions on Visualization and Computer Graphics (TVCG), 2020.

Clever, Henry, Zackory Erickson, Ariel Kapusta, Greg Turk, C. Karen Liu, and Charlie Kemp. “Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image Using Synthetic Data”, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.

Erickson, Zackory, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles Kemp. “Assistive Gym: A Physics Simulation Framework for Assistive Robotics”, IEEE International Conference on Robotics and Automation (ICRA), 2020.

Kumar, Visak, Sehoon Ha, Gregory Sawicki, and C. Karen Liu. “Learning a Control Policy for Fall Prevention on an Assistive Walking Device”, IEEE International Conference on Robotics and Automation (ICRA), 2020.

Clegg, Alexander, Zackory Erickson, Patrick Grady, Greg Turk, Charles Kemp, and C. Karen Liu. “Learning to Collaborate from Simulation for Robot-Assisted Dressing”, IEEE Robotics and Automation Letters (RA-L and ICRA), 2020.

Yu, Wenhao, Visak Kumar, Greg Turk, and C. Karen Liu. “Sim-to-Real Transfer for Biped Locomotion”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

Jiang, Yifeng, Tom Van Wouwe, Friedl De Groote, and C. Karen Liu. “Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation”. ACM Transactions on Graphics (Proceedings of SIGGRAPH), 2019, July 2019.

Kapusta, Ariel, Zackory Erickson, Henry Clever, Wenhao Yu, C. Karen Liu, Greg Turk, and Charles Kemp. “Personalize Collaborative Plans for Robot-Assisted Dressing via Optimization and Simulation”, Autonomous Robots, 2019.

Yu, Wenhao, C. Karen Liu, and Greg Turk. “Policy Transfer With Strategy Optimization”, International Conference on Learning Representations (ICLR), 2019.

Clegg, Alexander, Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk. “Learning To Dress: Synthesizing Human Dressing Motion via Deep Reinforcement Learning”, Transactions on Graphics (SIGGRAPH Asia), 2018.

Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Expanding Motor Skills through Relay Neural Networks”, Conference on Robot Learning (CoRL), 2018.

Yu, Wenhao, Greg Turk, and C. Karen Liu. “Learning Symmetric and Low-Energy Locomotion”, ACM Transactions on Graphics (SIGGRAPH), 2018.

Jiang, Yifeng, and C. Karen Liu. “Data-Driven Approach to Simulating Realistic Human Joint Constraints”, IEEE International Conference on Robotics and Automation (ICRA), 2018.

Erickson, Zackory, Henry Clever, Greg Turk, C. Karen Liu, and Charles Kemp. “Deep Haptic Model Predictive Control for Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2018.

Lee, Jeongseok, Michael Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha Srinivasa, Mike Stillman, and C. Karen Liu. “DART: Dynamic Animation and Robotics Toolkit”.

Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Learning a Unified Control Policy for Safe Falling”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

Clegg, Alexander, Wenhao Yu, Zackory Erickson, C. Karen Liu, and Greg Turk. “Learning to Navigate Cloth Using Haptics”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

Sun, Yun, Sehoon Ha, Hsiang Hsu, Lena Ting, and C. Karen Liu. “Stair Negotiation Made Easier Using Novel Interactive Energy-Recycling Assistive Stairs”, PLOS ONE, 2017.

Yu, Wenhao, Jie Tan, C. Karen Liu, and Greg Turk. “Preparing for the Unknown: Learning a Universal Policy With Online System Identification”, Robotics: Science and Systems (RSS), 2017.

Grey, Michael, Aaron Ames, and C. Karen Liu. “Probabilistic Completeness of Randomized Possibility Graphs for Bipedal Walking in Semi-Unstructured Environments”, Robotics Science and Systems (RSS), 2017.

Xie, Zhaoming, C. Karen Liu, and Kris Hauser. “Differential Dynamic Programming With Nonlinear Constraints”, IEEE International Conference on Robotics and Automation (ICRA), 2017.

Grey, Michael, Aaron Ames, and C. Karen Liu. “Footstep and Motion Planning in Semi-Unstructured Environments Using Randomized Possibility Graphs”, IEEE International Conference on Robotics and Automation (ICRA), 2017.

Yu, Wenhao, Ariel Kapusta, Charles Kemp, Greg Turk, and C. Karen Liu. “Haptic Data Simulation for Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2017.

Erickson, Zackory, Alexander Clegg, Wenhao Yu, Creg Turk, C. Karen Liu, and Charles Kemp. “What Does the Person Feel? Learning to Infer Applied Forces During Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2017.

Lee, Jeongseok, C. Karen Liu, Frank Park, and Siddhartha Srinivasa. “A Linear-Time Variational Integrator for Multibody Systems”, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016.

Liu, Shiqiu, Adam Smith, Yuting Gu, Jie Tan, C. Karen Liu, and Greg Turk. “Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs”, PLoS Computational Biology, 2016.

Bai, Yunfei, Wenhao Yu, and C. Karen Liu. “Dexterous Manipulation of Cloth”, Computer Graphics Forum (Eurographics), 2016.

Grey, Michael, Caelan Garrett, C. Karen Liu, Aaron Ames, and Andrea Thomaz. “Humanoid Manipulation Planning Using Backward-Forward ”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

Tan, Jie, Zhaoming Xie, Byron Boots, and C. Karen Liu. “Simulation-Based Design of Dynamic Controllers for Humanoid Balancing”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

Bai, Yunfei, Danny Kaufman, C. Karen Liu, and Jovan Popovic. “Artist-Directed Dynamics for 2D Animation”, ACM Transactions on Graphics (SIGGRAPH), 2016.

Kapusta, Ariel, Wenhao Yu, Tapomayukh Bhattacharjee, C. Karen Liu, Greg Turk, and Charles Kemp. “Data-Driven Haptic Perception for Robot-Assisted Dressing”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016.

Ha, Sehoon, and C. Karen Liu. “Evolutionary Optimization for Parameterized Whole-Body Dynamic Motor Skills”, IEEE International Conference on Robotics and Automation (ICRA) 2016.

Ha, Sehoon, and C. Karen Liu. “Multiple Contact Planning for Minimizing Damage of Humanoid Falls”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

Clegg, Alexander, Jie Tan, Greg Turk, and C. Karen Liu. “Animating Human Dressing”, ACM Transactions on Graphics (SIGGRAPH), 2015.

Hamalainen, Perttu, Joose Rajamaki, and C. Karen Liu. “Online Control of Simulated Humanoids Using Particle Belief Propagation”, ACM Transactions on Graphics (SIGGRAPH), 2015.

Zhang, Peizhao, Kristin Siu, Jianjie Zhang, C. Karen Liu, and Jinxiang Chai. “Leveraging Depth Cameras and Wearable Pressure Sensors for Full-Body Kinematics and Dynamics Capture”, ACM Transactions on Graphics (SIGGRAPH Asia), 2014.

Bai, Yunfei, and C. Karen Liu. “Coupling Cloth and Rigid Bodies for Dexterous Manipulation”, ACM SIGGRAPH Conference on Motion, Interaction and Games, 2014.

Bingham, Jeffrey, Jeongseok Lee, Ravi Haksar, Jun Ueda, and C. Karen Liu. “Orienting in Mid-Air through Configuration Changes to Achieve a Rolling Landing for Reducing Impact After a Fall”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

Tan, Jie, Yuting Gu, C. Karen Liu, and Greg Turk. “Learning Bicycle Stunts”, ACM Transactions on Graphics (SIGGRAPH), 2014.

Bai, Yunfei, and C. Karen Liu. “Dexterous Manipulation Using Both Palm and Fingers”, IEEE International Conference on Robotics and Automation (ICRA), 2014.

Ha, Sehoon, and C. Karen Liu. “Iterative Training Of Dynamic Skills Inspired By Human Coaching Techniques”, ACM Transactions on Graphics, 2014.

Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Generating Human-Like Motion for Robots”, The International Journal of Robotics Research (IJRR), 2013.

Ha, Sehoon, Jim McCann, C. Karen Liu, and Jovan Popovic. “Physics Storyboards”, Computer Graphics Forum (Eurogrphics), 2013.

Ha, Sehoon, Yuting Ye, and C. Karen Liu. “Falling and Landing Motion Control for Character Animation”, ACM Transactions on Graphics (SIGGRAPH Asia), 2012.

Bai, Yunfei, Kristin Siu, and C. Karen Liu. “Synthesis of Concurrent Object Manipulation Tasks”, ACM Transactions on Graphics (SIGGRAPH Asia), 2012.

Tan, Jie, Greg Turk, and C. Karen Liu. “Soft Body Locomotion”, ACM Transactions on Graphics (SIGGRAPH), 2012.

Ye, Yuting, and C. Karen Liu. “Synthesis of Detailed Hand Manipulations Using Contact Sampling”, ACM Transactions on Graphics (SIGGRAPH), 2012.

Jain, Sumit, and C. Karen Liu. “Controlling Physics-Based Characters Using Soft Contacts”, ACM Transactions on Graphics (SIGGRAPH Asia), 2011.

Jain, Sumit, and C. Karen Liu. “Modal-Space Control for Articulated Characters”, ACM Transactions on Graphics, 2011.

Tan, Jie, Yuting Gu, Greg Turk, and C. Karen Liu. “Articulated Swimming Creatures”, ACM Transactions on Graphics (SIGGRAPH), 2011.

Ha, Sehoon, Yunfei Bai, and C. Karen Liu. “Human Motion Reconstruction from Force Sensors”, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA) 2011.

Tan, Jie, C. Karen Liu, and Greg Turk. “Stable Proportional-Derivative Controllers”, IEEE Computer Graphics and Applications (CG&A) 2011.

Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Task-Aware Variations”, IEEE International Conference on Robotics and Automation (ICRA), 2011.

Ye, Yuting, and C. Karen Liu. “Synthesis of Responsive Motion Using a Dynamic Model”, Computer Graphics Forum (Eurographics), 2010.

Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Secondary Action in Robot Motion”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2010.

Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Stylized Motion Generalization Through Adaptation of Velocity Profile”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2010.

Liu, C. Karen. “Dextrous Manipulation from a Grasping Pose”, ACM Transactions on Graphics (SIGGRAPH), 2009.

Jain, Sumit, and C. Karen Liu. “Interactive Synthesis of Human-Object Interaction”, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2009.

Ishigaki, Satoru, Timothy White, Victor Zordan, and C. Karen Liu. “Performance-Based Control Interface for Character Animation”, ACM Transactions on Graphics (SIGGRAPH), 2009.

Jain, Sumit, Yuting Ye, and C. Karen Liu. “Optimization-Based Interactive Motion Synthesis”, ACM Transactions on Graphics, 2009.

Ye, Yuting, and C. Karen Liu. “Animating Responsive Characters With Dynamic Constraints in Near-Unactuated Coordinates”, ACM Transactions on Graphics (SIGGRAPH Asia), 2008.

Liu, C. Karen. “Synthesis of Interactive Hand Manipulation”, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2008.

Liu, C. Karen, Aaron Hertzmann, and Zoran Popovic. “Composition of Complex Optimal Multi-Character Motions”, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2006.

Liu, C. Karen, Aaron Hertzmann, and Zoran Popovic. “Learning Physics-Based Motion Style With Nonlinear Inverse Optimization”, ACM Transactions on Graphics (SIGGRAPH), 2005.

Abe, Yuihi, C. Karen Liu, and Zoran Popovic. “Momentum-Based Parameterization of Dynamic Character Motion”, ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2004.

Liu, C. Karen, and Zoran Popovic. “Synthesis of Complex Dynamics Character Motion from Simple Animation”, ACM Transactions on Graphics (SIGGRAPH), 2002.